• International Journal of Ocean System Engineering
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• v.1 no.2
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• pp.102-109
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• 2011

This paper describes the implementation of a precise underwater navigation solution using a multiple sensor fusion technique based on USBL, GPS, DVL and AHRS measurements for the operation of a remotely operated mine disposal vehicle (MDV). The estimation of accurate 6DOF positions and attitudes is the key factor in executing dangerous and complicated missions. To implement the precise underwater navigation, two strategies are chosen in this paper. Firstly, the sensor frame alignment to the body frame is conducted to enhance the performance of a standalone dead-reckoning algorithm. Secondly, absolute position data measured by USBL is fused to prevent cumulative integration error. The heading alignment error is identified by comparing the measured absolute positions with the DR algorithm results. The performance of the developed approach is evaluated with the experimental data acquired by MDV in the South-sea trial.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.319-321
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• 2007

This paper introduces a general overview of the 6000m class deep-sea ROV. Hemire and Henuvy. and then describes its motion control system. It is developed by Korea Ocean Research & Development Institute(KORDI) for 6 years since 2001. sponsored by the Ministry of Maritime Affairs and, Fisheries (MOMAF). Hemire is remotely operated by a fiber optic telemetry. where 6 thrusters are controlled by operator in manual mode and by auto depth control and auto heading control in auto mode. In this paper. operational mechanism of manual and automatic mode with some convenient functions for operator is desc.ribed. Finally, results of sea trial conducted at the Philippine sea where a depth is 5.770m are shown.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.6
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• pp.389-394
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• 2018

Remotely operated vehicle(ROV) and autonomous underwater vehicle(AUV) have been used for underwater surveys, underwater exploration, resource harvesting, offshore plant maintenance and repair, and underwater construction. It is hard for people to work in the deep sea. Therefore, we need a vision control system of underwater submersible that can replace human eyes. However, many people have difficulty in developing a deep-sea image control system due to the deep sea special environment such as high pressure, brine, waterproofing and communication. In this paper, we will develop an Ethernet based remote image control system that can control the image mounted on ROV.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.1
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• pp.67-73
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• 2023

As interest in underwater structures and ocean exploration increases, many researchers are proposing methods for modeling and controlling various remotely operated vehicles (ROVs). Recently, hybrid systems composed of an autonomous underwater vehicle and an ROV capable of remote control and autonomous navigation are being developed. In this study we introduce a method that models Ariari-aROV, an ROV consisting of five thrusters, and performs navigation. The proposed ROV can be controlled manually and by autonomous navigation when given a target point. An extended Kalman filter is utilized for sensor measurement correction for more precise navigation. The proposed method is verified through a simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.349-355
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• 2015

Underwater robots generally show better performances for tasks than humans under certain underwater constraints such as. high pressure, limited light, etc. To properly diagnose in an underwater environment using remotely operated underwater vehicles, it is important to keep autonomously its own position and orientation in order to avoid additional control efforts. In this paper, we propose an efficient method to assist in the operation for the various disturbances of a remotely operated vehicle for the diagnosis of underwater structures. The conventional AHRS-based bearing estimation system did not work well due to incorrect measurements caused by the hard-iron effect when the robot is approaching a ferromagnetic structure. To overcome this drawback, we propose a sensor fusion algorithm with the camera and AHRS for estimating the pose of the ROV. However, the image information in the underwater environment is often unreliable and blurred by turbidity or suspended solids. Thus, we suggest an efficient method for fusing the vision sensor and the AHRS with a criterion which is the amount of blur in the image. To evaluate the amount of blur, we adopt two methods: one is the quantification of high frequency components using the power spectrum density analysis of 2D discrete Fourier transformed image, and the other is identifying the blur parameter based on cepstrum analysis. We evaluate the performance of the robustness of the visual odometry and blur estimation methods according to the change of light and distance. We verify that the blur estimation method based on cepstrum analysis shows a better performance through the experiments.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.1
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• pp.82.2-82.2
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• 2015

In this talk, we introduce the Lee Sang Gak Telescope (LSGT), a 0.43m telescope that can be operated remotely. This telescope was installed at the Siding Spring Observatory in 2015 October, and since then, it has been operated through a robotic reservation system, remotely from Korea. This telescope is now being used for educational and research activities of SNU Astronomy program. By placing the telescope at a place with an excellent astro-climate in Australia, the observation class activity can include objects in the southern hemisphere to the magnitude limit of V=20 mag at an exposure time of a few minutes. For example, Cepheid stars in Magellanic clouds can be observed during a class activity for constructing the classical Cepheid light curves that has been a key distance measure technique. Research activities such as transient observation and monitoring observation of AGN are possible, and we are currently running a high cadence supernovae search program by monitoring nearby galaxies intensively (see a presentation by C. Choi). The installation of the telescope was made possible from a support from the Seoul.

• Journal of Ocean Engineering and Technology
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• v.32 no.2
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• pp.131-137
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• 2018

In this paper, we propose an adaptive backstepping controller to control the exact position and orientation of a remotely operated underwater vehicle with parametric model uncertainty. To further improve the angular velocity control precision of each thruster, a phase locked loop (PLL) controller has been added to the backstepping controller. A comparison of two backstepping controllers with and without the PLL control loop has been performed using simulations and experiments. The test results showed that the tracking performance could be improved by using the PLL control loop in the proposed adaptive backstepping controller.

• Journal of The Korean Astronomical Society
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• v.48 no.4
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• pp.207-212
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• 2015

We introduce the Lee Sang Gak Telescope (LSGT), a remotely operated, robotic 0.43-meter telescope. The telescope was installed at the Siding Spring Observatory, Australia, in 2014 October, to secure regular and exclusive access to the dark sky and excellent atmospheric conditions in the southern hemisphere from the Seoul National University (SNU) campus. Here, we describe the LSGT system and its performance, present example images from early observations, and discuss a future plan to upgrade the system. The use of the telescope includes (i) long-term monitoring observations of nearby galaxies, active galactic nuclei, and supernovae; (ii) rapid follow-up observations of transients such as gamma-ray bursts and gravitational wave sources; and (iii) observations for educational activities at SNU. Based on observations performed so far, we find that the telescope is capable of providing images to a depth of R = 21:5 mag (point source detection) at 5-σ with 15 min total integration time under good observing conditions.

• Special Issue of the Society of Naval Architects of Korea
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• 2009.09a
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• pp.71-79
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• 2009

The world-wide ship construction market is forecast that the considerable portion of shipbuilding and oceanic plant industry will be transferred consequently in China after 5 or 10 years. This point of view where the Korean ship construction industry seizes the initiative from the world-wide ship construction/oceanic field, we must cultivate technical power of base technology, and focus our interests on the development of core parts. In this study, our proprietary remotely operated valve actuator system with power line technology was developed to enhance the installation and commissioning process by our own technology. This paper describes the new design and functions of the remotely operated valve system for shipbuilding and offshore market especially for FPSO.

• Journal of Ocean Engineering and Technology
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• v.34 no.3
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.